Vehicular forward viewing camera

ABSTRACT

A vehicular vision system includes an attaching structure configured to attach at an in-cabin side of a vehicle windshield. The attaching structure includes a camera module receiving portion and a stray light shield. A camera module includes a circuit board, an imager and a lens. The camera module is configured to be disposed at the attaching structure so that the imager views through the vehicle windshield and forward of the vehicle when the camera module is disposed at the attaching structure attached at the in-cabin side of the vehicle windshield. With the attaching structure attached at the in-cabin side of the vehicle windshield, the camera module is inserted into the camera module receiving portion of the attaching structure to attach the camera module at the vehicle windshield with the circuit board of the camera module being vertically oriented when so inserted and attached.

CROSS REFERENCE TO RELATED APPLICATION

The present application claims the filing benefits of U.S. provisionalapplication Ser. No. 62/713,082, filed Aug. 1, 2018, which is herebyincorporated herein by reference in its entirety.

FIELD OF THE INVENTION

The present invention relates generally to a vehicle vision system for avehicle and, more particularly, to a vehicle vision system that utilizesone or more cameras at a vehicle.

BACKGROUND OF THE INVENTION

Use of imaging sensors in vehicle imaging systems is common and known.Examples of such known systems are described in U.S. Pat. Nos. 6,824,281and/or 6,690,268, which are hereby incorporated herein by reference intheir entireties.

SUMMARY OF THE INVENTION

The present invention provides a driver assistance system or visionsystem or imaging system for a vehicle that utilizes one or more cameras(preferably one or more CMOS cameras) to capture image datarepresentative of images exterior of the vehicle, and provides awindshield mounted camera module that comprises a camera unit or imagerassembly having an imager that, when mounted at an in-cabin surface of avehicle windshield, views through the windshield and forward of thevehicle. The camera module may, with an attaching structure attached atthe in-cabin side of the vehicle windshield, be configured to beinserted into a camera module receiving portion of the attachingstructure to attach the camera module at the vehicle windshield. Withthe camera module inserted into the camera module receiving portion ofthe attaching structure attached at the in-cabin side of the vehiclewindshield, a main circuit board of the camera module is verticallyoriented.

These and other objects, advantages, purposes and features of thepresent invention will become apparent upon review of the followingspecification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a plan view of a vehicle with a vision system thatincorporates cameras in accordance with the present invention;

FIG. 2 is a lower perspective view of a camera configured for mountingat a vehicle windshield, with the imager circuit board of the cameragenerally vertically oriented when the camera is mounted at the vehiclewindshield;

FIG. 3 is a top plan view of the camera of FIG. 2, shown with a solid(non-transparent) bracket;

FIG. 4 is a top plan view of the camera of FIG. 2, shown with atransparent bracket;

FIG. 5 is a side elevation and partial sectional view of the camera ofFIG. 2;

FIG. 6 is an enlarged top plan view of the camera of FIG. 2;

FIG. 7 is a rear elevation of the camera of FIG. 2;

FIG. 8 is a front elevation of the camera of FIG. 2;

FIGS. 9 and 10 are upper perspective views of the camera of FIG. 2;

FIGS. 11 and 12 are perspective views of another camera module formounting at a vehicle windshield, with the camera having two imagers andlenses viewing forward through the vehicle windshield;

FIG. 13 is a view of a light transmitting aperture established at anon-light transmitting region of the vehicle windshield, whereby theimagers and lenses of the camera module of FIGS. 11 and 12 view throughthe aperture;

FIG. 14 is a top plan view of another camera module for mounting at avehicle windshield, with the camera having a width of less than 100 mm,a depth of less than 65 mm and a maximum height of less than 35 mm;

FIG. 15 is a rear elevation of the camera of FIG. 14;

FIG. 16 is a front elevation of the camera of FIG. 14;

FIG. 17 is a lower plan view of the camera of FIG. 14;

FIG. 18 is a side elevation of the camera of FIG. 14;

FIG. 19 is an upper perspective view of the camera of FIG. 14, shownwith the light shield removed;

FIG. 20 is an upper perspective view of the camera of FIG. 14, shownwith the light shield;

FIG. 21 is an upper perspective view of the camera of FIG. 14, shownwith the light shield in phantom;

FIG. 22 is a top plan view of the camera of FIG. 21;

FIG. 23 is an enlarged upper perspective view of the camera of FIG. 19;

FIG. 24 is a side elevation of the camera of FIG. 19;

FIG. 25 is a top plan view of the camera of FIG. 19;

FIG. 26 is a rear elevation of the camera of FIG. 19;

FIG. 27 is a front elevation of the camera of FIG. 19;

FIG. 28 is a bottom plan view of the camera of FIG. 19;

FIG. 29 is an upper perspective view of the camera of FIG. 14, shownmounted at a windshield of a vehicle, and within a housing at thewindshield;

FIG. 30 is a side sectional view of the camera and housing of FIG. 29;

FIG. 31 is a top plan view of the camera and housing of FIG. 29;

FIG. 32 is a side elevation and partial sectional view of another cameramodule for mounting at a vehicle windshield;

FIG. 33 is a top plan view of the camera of FIG. 32;

FIGS. 34 and 35 are upper perspective views of the camera of FIG. 32;

FIG. 36 is a lower plan view of the camera of FIG. 32;

FIG. 37 is a side elevation and partial sectional view of another camerafor mounting at a vehicle windshield;

FIG. 38 is a top plan view of the camera of FIG. 37;

FIG. 39 is an upper perspective view of the camera of FIG. 37;

FIG. 40 is a bottom plan view of the camera of FIG. 37; and

FIGS. 41 and 42 are upper perspective views of the camera of FIG. 37 asdisposed at the mounting bracket and stray light shield.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A vehicle vision system and/or driver assist system and/or objectdetection system and/or alert system operates to capture images exteriorof the vehicle and may process the captured image data to display imagesand to detect objects at or near the vehicle and in the predicted pathof the vehicle, such as to assist a driver of the vehicle in maneuveringthe vehicle in a rearward direction. The vision system includes an imageprocessor or image processing system that is operable to receive imagedata from one or more cameras and provide an output to a display devicefor displaying images representative of the captured image data.Optionally, the vision system may provide display, such as a rearviewdisplay or a top down or bird's eye or surround view display or thelike.

Referring now to the drawings and the illustrative embodiments depictedtherein, vision system 10 for a vehicle 12 includes at least oneexterior viewing imaging sensor or camera, such as a forward viewingimaging sensor or camera, which may be disposed at and behind thewindshield 14 of the vehicle and viewing forward through the windshieldso as to capture image data representative of the scene occurringforward of the vehicle (FIG. 1). Optionally, the system may includemultiple exterior viewing imaging sensors or cameras, such as a forwardviewing camera at the front of the vehicle, and a sideward/rearwardviewing camera at respective sides of the vehicle, and a rearwardviewing camera at the rear of the vehicle, which capture images exteriorof the vehicle. The camera or cameras each include a lens for focusingimages at or onto an imaging array or imaging plane or imager of thecamera. Optionally, the forward viewing camera may be disposed at thewindshield of the vehicle and view through the windshield and forward ofthe vehicle, such as for a machine vision system (such as for trafficsign recognition, headlamp control, pedestrian detection, collisionavoidance, lane marker detection and/or the like). The vision system 10includes a control or electronic control unit (ECU) or processor that isoperable to process image data captured by the camera or cameras and maydetect objects or the like and/or provide displayed images at a displaydevice for viewing by the driver of the vehicle. The data transfer orsignal communication from the camera to the ECU may comprise anysuitable data or communication link, such as a vehicle network bus orthe like of the equipped vehicle.

Referring now to FIGS. 2-10, the camera module 20 comprises a housingthat houses an imager disposed at an imager printed circuit board. Thecamera module 20 has a lens that images at the imager, and the cameramodule houses a primary or processor printed circuit board, withcircuitry of the imager circuit board electrically connected tocircuitry of the primary or processor circuit board. The camera housingor module is received in or disposed at a bracket or support structure22 that attaches at an attaching structure 24 that attaches at thein-cabin surface of the vehicle windshield. When the bracket 22 isattached at the attaching structure 24 at the windshield, the cameramodule is oriented with the imager circuit board and the processorcircuit board being generally vertically oriented, and with the cameralens 26 (and imager at the circuit board) viewing forwardly through thewindshield via a light trap or shield 28 (and having a field of viewthat spans up to or over 100 degrees). The circuitry of the imagercircuit board is electrically connected to the circuitry of theprocessor circuit board, such as via a flexible electrical connector orribbon cable or the like. Optionally, the camera module may comprise asingle printed circuit board, with the imager disposed at one side and aconnector disposed at the other side and associated circuitry disposedat either or both sides of the circuit board. The rear of the cameramodule has an electrical connector 30 (such as a coaxial connector) forelectrically connecting circuitry of the camera (such as via a headerconnector at a rear side of the processor circuit board that is oppositethe front side that faces the imager circuit board) with a wire harnessof the vehicle. The camera module is electrically connected to an ECUthat is remote from or not part of the camera module, and that has aprocessor for processing image data captured by the camera.

The camera module is configured to attach at the attaching structure orbracket when the bracket is attached at a windshield of a vehicle. Thebracket 24 includes a windshield attaching portion (that may be bondedto the in-cabin surface of the windshield or that may attach at buttonsor elements that are bonded to the in-cabin surface of the windshield)and the camera receiving structure 22 and the stray light shield 28.When attached at the windshield, the receiving structure 22 extendsgenerally vertically (such as within five or ten percent of verticalwhen the structure is attached at the windshield and the vehicle islocated on a horizontal support surface or ground) and downward from theattaching structure and from the windshield and has an open lower end 22a that is configured for receiving the camera module therein (with thewalls of the receiving structure being generally vertically orientedwhen the structure is attached at the vehicle windshield and with thewalls of the receiving structure defining or circumscribing and forminga recess or pocket or receiving portion that is configured to receivethe camera module therein).

In the illustrated embodiment, and as best shown in FIG. 2, the cameramodule may be inserted upward and into the receiving structure and maybe fastened at the receiving structure or snap-attached therein (such asvia flexible tabs at the receiving structure engaging corresponding tabsor surfaces at the lower region of the camera module to limit downwardmovement of the camera module after it is fully inserted or seated andretained in the receiving structure). The receiving structure 22includes a slot or notch 22 c at its forward side 22 b to allow for thelens 26 of the camera module to move upward along the notch as thecamera module is inserted into the receiving structure. Likewise, thereceiving structure includes a slot or notch 22 e at its rearward side22 d to allow for the electrical connector 30 of the camera module tomove upward along the notch as the camera module is inserted into thereceiving structure. Thus, the camera housing is disposed within thereceiving portion (and may be snapped or fastened therein), while thecamera lens protrudes from the front side or wall of the receivingportion and the electrical connector protrudes from the rear side orwall of the receiving portion.

The camera module comprises a low profile module that is less than 35 mmin height (e.g., about 30.5 mm) and is less than 20 mm in depth (e.g.,about 14 mm) and is less than 45 mm in width (e.g., about 42 mm). Thereceiving structure 22 and stray light shield 28 may be formed togetheror may be attached or joined together, whereby the structure 22 may snapattach or otherwise be secured to the attaching structure 24 at thewindshield. The camera module 20 may be readily inserted into thestructure 22, whereby the lens of the camera module is received alongthe notch or slot 22 c and through an aperture or slot at the lightshield as the module is pressed upward, until the lens is disposed atand viewing through a pocket defined by the light shield and windshield.As shown in FIGS. 6 and 10, the light shield 28 includes a notch oropening 28 a that allows for upward movement of the lens 26 through thelight shield as the camera is inserted into the receiving structure frombelow the receiving structure and light shield. The electrical connectormay also be received in and along the slot at the rear 22 e of thestructure as the camera module is pressed or inserted into the supportstructure at the windshield. For service, the camera module may bereadily removed and serviced or replaced, without having to remove thesupport structure and light shield.

Optionally, and with reference to FIGS. 11 and 12, a camera module 120may attach at a mounting structure or attaching structure 123 at thevehicle windshield, and may include two (or more) imagers and lenses 126a, 126 b. The camera module may provide stereo imaging capabilities(where both cameras (imagers and lenses) function in a similar manner),or each camera may function differently. For example, one of the camerasmay capture color video image data during daytime lighting conditionsand the other camera may capture infrared or near-infrared video imagedata during nighttime lighting conditions, so that the camera providesenhanced night vision and enhanced daytime vision (such as by utilizingaspects of the camera systems described in U.S. Publication Nos.US-2017-0113613 and/or US-2016-0119527, which are hereby incorporatedherein by reference in their entireties). Optionally, one of the camerasmay comprise a higher resolution or HD camera and the other camera maycomprise a lower resolution camera or even a thermal imaging camera orthe like. The cameras both view through a common light transmittingaperture formed or established at a non-light transmitting region of thevehicle windshield (see FIG. 13).

Optionally, and with reference to FIGS. 14-31, another camera module 220(that includes an imager and lens and circuitry including a processorand other control/processing circuitry) is attached at a supportstructure 223, which is configured to attach at the in-cabin surface ofthe vehicle windshield and which includes a light shield. The cameramodule 220 comprises a low profile “landscape style” camera modulehaving a width of less than 100 mm (e.g., about 96 mm), a depth of lessthan 65 mm (e.g., about 63 mm), and a maximum height of less than 35 mm(e.g., about 32 mm). As can be seen in FIG. 18, the width of the cameramodule is much greater than the depth or length of the camera module. Asshown in FIG. 23, the camera module includes heat dissipating fins atone side of the lens 226 to dissipate heat generated by the cameraduring operation (such as heat generated by the data processor in thecamera during processing of image data captured by the imager or cameraunit or imager assembly).

The camera module may snap attach at the support structure (which mayattach at fixing elements attached at the vehicle windshield) or may befastened thereto via a plurality of fasteners. In the illustratedembodiment, the camera module includes tabs at the front of the modulethat slide into receptacles at the bracket or support structure, wherebythe camera is rotated up so that tabs at the rear of the camera moduleswing up and into receptacles at the bracket or support structure andsnap into the receptacles to retain the camera module at the bracket orsupport structure. When the camera module is attached at the supportstructure, the lens 226 views forward through the windshield via apocket defined by the stray light shield 228 and the windshield. Asshown in FIG. 26, the camera module may have a coaxial connector and amulti-pin connector to electrically connect the camera module to one ormore wire harnesses of the vehicle. FIGS. 29-31 show the camera moduleas disposed at the vehicle windshield, along with other components ofthe accessory module or system disposed at the vehicle windshield.

Optionally, and with reference to FIGS. 32-36, another camera module 320is disposed at a structure 323 that is configured to attach at thein-cabin surface of the vehicle windshield. The camera module 320 isdisposed at the structure 323 such that the lens views forward throughthe windshield via a pocket formed by the stray light shield 328 and thewindshield, with the lens having a wide angle field of view at least 100degrees or more. The stray light shield may be part of the camera modulehousing. The camera module 320 comprises a “landscape style” module,where the width of the camera module is greater than the length or depthof the camera module. The camera module may attach to the attachingstructure or bracket in a similar manner as described above.

Optionally, and with reference to FIGS. 37-42, another camera module 420is disposed at a structure 423 that is configured to attach at thein-cabin surface of the vehicle windshield. The camera module 420 isdisposed at the structure 423 such that the lens views forward throughthe windshield via a pocket formed by the stray light shield 428 and thewindshield, with the lens having a wide angle field of view at least 100degrees or more. The camera module 420 comprises a “portrait style”module, where the length of the camera module is greater than the widthof the camera module. The camera module may attach to the attachingstructure or bracket in a similar manner as described above.

Each of the cameras thus comprises a forward viewing camera or cameramodule disposed at and behind the windshield of a vehicle, such asdisposed at a windshield electronics module (WEM) or at a mountingbracket or the like attached at the windshield. The forward viewingcamera or camera module may utilize aspects of the systems described inU.S. Pat. Nos. 9,896,039; 9,871,971; 9,596,387; 9,487,159; 9,451,138;9,380,219; 8,256,821; 7,480,149; 6,824,281 and/or 6,690,268, and/or U.S.Publication No. US-2016-0264063, which are all hereby incorporatedherein by reference in their entireties.

The camera or sensor may comprise any suitable camera or sensor.Optionally, the camera may comprise a “smart camera” that includes theimaging sensor array and associated circuitry and image processingcircuitry and electrical connectors and the like as part of a cameramodule, such as by utilizing aspects of the vision systems described inInternational Publication Nos. WO 2013/081984 and/or WO 2013/081985,which are hereby incorporated herein by reference in their entireties.

The system includes an image processor operable to process image datacaptured by the camera or cameras, such as for detecting objects orother vehicles or pedestrians or the like in the field of view of one ormore of the cameras. For example, the image processor may comprise animage processing chip selected from the EYEQ family of image processingchips available from Mobileye Vision Technologies Ltd. of Jerusalem,Israel, and may include object detection software (such as the typesdescribed in U.S. Pat. Nos. 7,855,755; 7,720,580 and/or 7,038,577, whichare hereby incorporated herein by reference in their entireties), andmay analyze image data to detect vehicles and/or other objects.Responsive to such image processing, and when an object or other vehicleis detected, the system may generate an alert to the driver of thevehicle and/or may generate an overlay at the displayed image tohighlight or enhance display of the detected object or vehicle, in orderto enhance the driver's awareness of the detected object or vehicle orhazardous condition during a driving maneuver of the equipped vehicle.

The vehicle may include any type of sensor or sensors, such as imagingsensors or radar sensors or lidar sensors or ultrasonic sensors or thelike. The imaging sensor or camera may capture image data for imageprocessing and may comprise any suitable camera or sensing device, suchas, for example, a two dimensional array of a plurality of photosensorelements arranged in at least 640 columns and 480 rows (at least a640×480 imaging array, such as a megapixel imaging array or the like),with a respective lens focusing images onto respective portions of thearray. The photosensor array may comprise a plurality of photosensorelements arranged in a photosensor array having rows and columns.Preferably, the imaging array has at least 300,000 photosensor elementsor pixels, more preferably at least 500,000 photosensor elements orpixels and more preferably at least 1 million photosensor elements orpixels. The imaging array may capture color image data, such as viaspectral filtering at the array, such as via an RGB (red, green andblue) filter or via a red/red complement filter or such as via an RCC(red, clear, clear) filter or the like. The logic and control circuit ofthe imaging sensor may function in any known manner, and the imageprocessing and algorithmic processing may comprise any suitable meansfor processing the images and/or image data.

For example, the vision system and/or processing and/or camera and/orcircuitry may utilize aspects described in U.S. Pat. Nos. 9,233,641;9,146,898; 9,174,574; 9,090,234; 9,077,098; 8,818,042; 8,886,401;9,077,962; 9,068,390; 9,140,789; 9,092,986; 9,205,776; 8,917,169;8,694,224; 7,005,974; 5,760,962; 5,877,897; 5,796,094; 5,949,331;6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202;6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452;6,822,563; 6,891,563; 6,946,978; 7,859,565; 5,550,677; 5,670,935;6,636,258; 7,145,519; 7,161,616; 7,230,640; 7,248,283; 7,295,229;7,301,466; 7,592,928; 7,881,496; 7,720,580; 7,038,577; 6,882,287;5,929,786 and/or 5,786,772, and/or U.S. Publication Nos.US-2014-0340510; US-2014-0313339; US-2014-0347486; US-2014-0320658;US-2014-0336876; US-2014-0307095; US-2014-0327774; US-2014-0327772;US-2014-0320636; US-2014-0293057; US-2014-0309884; US-2014-0226012;US-2014-0293042; US-2014-0218535; US-2014-0218535; US-2014-0247354;US-2014-0247355; US-2014-0247352; US-2014-0232869; US-2014-0211009;US-2014-0160276; US-2014-0168437; US-2014-0168415; US-2014-0160291;US-2014-0152825; US-2014-0139676; US-2014-0138140; US-2014-0104426;US-2014-0098229; US-2014-0085472; US-2014-0067206; US-2014-0049646;US-2014-0052340; US-2014-0025240; US-2014-0028852; US-2014-005907;US-2013-0314503; US-2013-0298866; US-2013-0222593; US-2013-0300869;US-2013-0278769; US-2013-0258077; US-2013-0258077; US-2013-0242099;US-2013-0215271; US-2013-0141578 and/or US-2013-0002873, which are allhereby incorporated herein by reference in their entireties. The systemmay communicate with other communication systems via any suitable means,such as by utilizing aspects of the systems described in InternationalPublication Nos. WO 2010/144900; WO 2013/043661 and/or WO 2013/081985,and/or U.S. Pat. No. 9,126,525, which are hereby incorporated herein byreference in their entireties.

Optionally, the vision system (utilizing the forward viewing camera anda rearward viewing camera and other cameras disposed at the vehicle withexterior fields of view) may be part of or may provide a display of atop-down view or bird's-eye view system of the vehicle or a surroundview at the vehicle, such as by utilizing aspects of the vision systemsdescribed in International Publication Nos. WO 2010/099416; WO2011/028686; WO 2012/075250; WO 2013/019795; WO 2012/075250; WO2012/145822; WO 2013/081985; WO 2013/086249 and/or WO 2013/109869,and/or U.S. Publication No. US-2012-0162427, which are herebyincorporated herein by reference in their entireties.

Changes and modifications in the specifically described embodiments canbe carried out without departing from the principles of the invention,which is intended to be limited only by the scope of the appendedclaims, as interpreted according to the principles of patent lawincluding the doctrine of equivalents.

The invention claimed is:
 1. A vehicular camera system, said vehicularcamera system comprising: an attaching structure configured to attach atan in-cabin side of a vehicle windshield of a vehicle; wherein saidattaching structure comprises a camera module receiving portion and astray light shield; a camera module having a housing that accommodates acircuit board and an imager, wherein said camera module comprises a lensbarrel accommodating a lens that is disposed at and aligned with saidimager, and wherein said lens barrel protrudes from said housing;wherein said camera module receiving portion comprises an opening at alower portion of said camera module receiving portion; wherein, withsaid attaching structure attached at the in-cabin side of the vehiclewindshield, said camera module is inserted upward through said openingand into said camera module receiving portion of said attachingstructure to attach said camera module at said camera module receivingportion of said attaching structure attached at the in-cabin side of thevehicle windshield; wherein, with said attaching structure attached atthe in-cabin side of the vehicle windshield and with said camera moduleinserted into said camera module receiving portion of said attachingstructure attached at the in-cabin side of the vehicle windshield, saidimager views through the vehicle windshield and forward of the vehicle;and wherein, with said attaching structure attached at the in-cabin sideof the vehicle windshield and with said camera module inserted into saidcamera module receiving portion of said attaching structure attached atthe in-cabin side of the vehicle windshield, said circuit board of saidcamera module is vertically oriented.
 2. The vehicular camera system ofclaim 1, wherein, with said attaching structure attached at the in-cabinside of the vehicle windshield, said camera module is verticallyinserted upward into said camera module receiving portion of saidattaching structure.
 3. The vehicular camera system of claim 2, whereinsaid camera module receiving portion comprises a slot that extendsupward from the opening, and wherein, with said attaching structureattached at the in-cabin side of the vehicle windshield, said lensbarrel of said camera module is received along the slot and through anaperture through said stray light shield as said camera module isvertically inserted upward into said camera module receiving portion ofsaid attaching structure.
 4. The vehicular camera system of claim 2,wherein said camera module receiving portion comprises a slot thatextends upward from the opening, and wherein said camera modulecomprises an electrical connector that electrically connects tocircuitry of said circuit board and that protrudes from said housing,and wherein, with said attaching structure attached at the in-cabin sideof the vehicle windshield, said electrical connector is received alongthe slot as said camera module is vertically inserted upward into saidcamera module receiving portion of said attaching structure.
 5. Thevehicular camera system of claim 1, wherein said circuit board comprisesa processor circuit board having an image processor operable to processimage data captured by said imager.
 6. The vehicular camera system ofclaim 5, wherein said imager is disposed at an imager circuit boardaccommodated in said housing of said camera module, and whereincircuitry of said imager circuit board is electrically connected tocircuitry of said processor circuit board via an electrical connector.7. The vehicular camera system of claim 6, wherein, with said attachingstructure attached at the in-cabin side of the vehicle windshield andwith said camera module inserted into said camera module receivingportion of said attaching structure attached at the in-cabin side of thevehicle windshield, said imager circuit board of said camera module isvertically oriented.
 8. The vehicular camera system of claim 6, whereinsaid camera module receiving portion comprises a slot that extends atleast partially along a front wall of said camera module receivingportion and upward from the opening, and wherein said lens barrel isfixed relative to said imager and said imager circuit board, andwherein, with said attaching structure attached at the in-cabin side ofthe vehicle windshield, said lens barrel is received along the slot assaid camera module is inserted into said camera module receiving portionof said attaching structure.
 9. The vehicular camera system of claim 6,wherein said camera module receiving portion comprises a slot thatextends at least partially along a rear wall of said camera modulereceiving portion and upward from the opening, and wherein said cameramodule comprises an electrical connector that electrically connects tocircuitry of said processor circuit board and that protrudes from saidhousing, and wherein, with said attaching structure attached at thein-cabin side of the vehicle windshield, said electrical connector isreceived at the slot aas said camera module is inserted into said cameramodule receiving portion of said attaching structure.
 10. The vehicularcamera system of claim 6, wherein, with said attaching structureattached at the in-cabin side of the vehicle windshield, said lens ofsaid camera module is received at least partially through an aperture ofsaid stray light shield as said camera module is inserted into saidcamera module receiving portion of said attaching structure.
 11. Thevehicular camera system of claim 5, wherein said camera module, withsaid attaching structure attached at the in-cabin side of the vehiclewindshield, and with said camera module inserted into said camera modulereceiving portion of said attaching structure attached at the in-cabinside of the vehicle windshield, and responsive to image processing ofimage data captured by said imager, provides an output to at least onedriving assistance system of the vehicle.
 12. A method of mounting acamera module at an in-cabin side of a vehicle windshield of a vehicle,said method comprising: attaching an attaching structure at the in-cabinside of the vehicle windshield of the vehicle, wherein the attachingstructure comprises a camera module receiving portion; providing acamera module having a housing that accommodates a circuit board and animager, wherein the camera module comprises a lens barrel accommodatinga lens that is disposed at and aligned with the imager, and wherein thelens barrel protrudes from the housing; with the attaching structureattached at the in-cabin side of the vehicle windshield, inserting thecamera module vertically upward into the camera module receiving portionof the attaching structure via an opening at a lower portion of thecamera module receiving portion to attach the camera module at thecamera module receiving portion of the attaching structure attached atthe in-cabin side of the vehicle windshield; wherein, with the attachingstructure attached at the in-cabin side of the vehicle windshield andwith the camera module inserted into the camera module receiving portionof the attaching structure attached at the in-cabin side of the vehiclewindshield, the imager views through the vehicle windshield and forwardof the vehicle; and wherein, with the attaching structure attached atthe in-cabin side of the vehicle windshield and with the camera moduleinserted into the camera module receiving portion of the attachingstructure attached at the in-cabin side of the vehicle windshield, thecircuit board of said camera module is vertically oriented.
 13. Themethod of claim 12, wherein inserting the camera module verticallyupward into the camera module receiving portion comprises moving thelens barrel of the camera module along a slot that extends upward fromthe opening at the lower portion of the camera module receiving portionof the attaching structure and at least partially through an aperturethrough a stray light shield disposed at said attaching structure. 14.The method of claim 12, wherein the camera module comprises anelectrical connector that electrically connects to circuitry of thecircuit board and that protrudes from the housing, and wherein insertingthe camera module vertically upward into the camera module receivingportion comprises moving the electrical connector along a slot thatextends upward from the opening at the lower portion of the cameramodule receiving portion of the attaching structure.
 15. The method ofclaim 12, wherein the circuit board comprises a processor circuit boardhaving an image processor operable to process image data captured by theimager, and wherein the imager is disposed at an imager circuit boardaccommodated in the housing of the camera module, and wherein circuitryof the imager circuit board is electrically connected to circuitry ofthe processor circuit board via an electrical connector, and wherein,with the attaching structure attached at the in-cabin side of thevehicle windshield and with the camera module inserted into the cameramodule receiving portion of the attaching structure attached at thein-cabin side of the vehicle windshield, the imager circuit board of thecamera module is vertically oriented.
 16. A vehicular camera system,said vehicular camera system comprising: an attaching structureconfigured to attach at an in-cabin side of a vehicle windshield of avehicle; wherein said attaching structure comprises a camera modulereceiving portion; wherein said camera module receiving portioncomprises an opening at a lower portion of said camera module receivingportion; a camera module having a housing that accommodates a processorcircuit board and an imager circuit board; wherein circuitry of saidimager circuit board is electrically connected to circuitry of saidprocessor circuit board via an electrical connector; wherein circuitryof said imager circuit board comprises an imager disposed at said imagercircuit board; wherein circuitry of said processor circuit boardcomprises an image processor disposed at said processor circuit boardand operable to process image data captured by said imager; wherein saidcamera module comprises a lens barrel accommodating a lens that isdisposed at and aligned with said imager, and wherein said lens barrelprotrudes from a front side of said housing; wherein said camera modulecomprises an electrical connector that electrically connects tocircuitry of said processor circuit board and that protrudes from a rearside of said housing; wherein, with said attaching structure attached atthe in-cabin side of the vehicle windshield, said camera module isinserted vertically upward through said opening and into said cameramodule receiving portion of said attaching structure to attach saidcamera module at said camera module receiving portion of said attachingstructure attached at the in-cabin side of the vehicle windshield;wherein, with said attaching structure attached at the in-cabin side ofthe vehicle windshield and with said camera module vertically insertedinto said camera module receiving portion of said attaching structureattached at the in-cabin side of the vehicle windshield, said imagerviews through the vehicle windshield and forward of the vehicle; andwherein, with said attaching structure attached at the in-cabin side ofthe vehicle windshield and with said camera module vertically insertedinto said camera module receiving portion of said attaching structureattached at the in-cabin side of the vehicle windshield, said processorcircuit board of said camera module is vertically oriented.
 17. Thevehicular camera system of claim 16, wherein said camera modulereceiving portion comprises a slot that extends at least partially alonga front wall of said camera module receiving portion and upward from theopening, and wherein, with said attaching structure attached at thein-cabin side of the vehicle windshield, said lens barrel of said cameramodule is received along the slot as said camera module is verticallyinserted upward into said camera module receiving portion of saidattaching structure.
 18. The vehicular camera system of claim 17,wherein, with said attaching structure attached at the in-cabin side ofthe vehicle windshield, said lens barrel of said camera module isreceived at least partially through an aperture of a stray light shielddisposed at said camera module receiving portion as said camera moduleis vertically inserted upward into said camera module receiving portionof said attaching structure.
 19. The vehicular camera system of claim16, wherein said camera module receiving portion comprises a slot thatextends at least partially along a rear wall of said camera modulereceiving portion and upward from the opening, and wherein, with saidattaching structure attached at the in-cabin side of the vehiclewindshield, said electrical connector is received along the slot as saidcamera module is vertically inserted upward into said camera modulereceiving portion of said attaching structure.
 20. The vehicular camerasystem of claim 16, wherein, with said attaching structure attached atthe in-cabin side of the vehicle windshield and with said camera moduleinserted into said camera module receiving portion of said attachingstructure attached at the in-cabin side of the vehicle windshield, saidimager circuit board of said camera module is vertically oriented.